Motion capturing garments and system and method for motion capture using jeans and other garments

ABSTRACT

A real-time motion capture system and garment includes a wearable activity monitor that may be a pair of denim jeans. The wearable activity monitor includes multiple sensors such as accelerometers, gyrometers, magnetometers disposed within the seams of the garment. A microprocessor and wireless transmitter) communicate the motion data to an external device. The microprocessor and wireless transmitter may be included within one of the seams. An elastically stretchable ribbon or a flexible ribbon such as a kapton ribbon or a ribbon formed of textile, electrically couples the sensors and microprocessor and is also disposed inside the seams and the components within the seam are coated with a waterproof coating. The external device can store the data or display and analyze the data real-time, and may communicate the data to a further electronic device.

This application is a Divisional Application of U.S. Ser. No. 15/654,789filed on Jul. 20, 2017 and claims priority to European application16180659.1, filed 21 Jul. 2016, the contents of which are hereinincorporated by reference as if set forth in their entirety.

TECHNICAL FIELD

The present invention relates to the field of the motion capture (Mo-capfor short), i.e. the process of recording the movement of objects orpeople. The present invention can be used in military, entertainment,sports, medical, and various other applications.

BACKGROUND

Motion capture is usually used in sports research, filmmaking and videogame development for recording actions of human actors by means of oneor more cameras configured to detect the positions of a plurality ofmarkers attached to the body of the actor at determined points. Themarkers can be coated with a retroreflective material in order toreflect light that is generated near the cameras lens. Alternatively,the markers can be provided with a light source, e.g. LEDs. The camera'sthreshold can be adjusted so only the light of markers will be sampled,ignoring skin and fabric of the actor. The movements recorded are thusused to animate digital character models in a 3D environment.

A further technique provides a marker-less approach to motion capture.These systems do not require users to wear markers for tracking. Bymeans of special computer algorithms, it can be possible to analyzemultiple streams of optical input and identify human forms, breakingthem down into constituent parts for tracking. In the above mentionedsystems, one or more cameras are required for detecting and recordingthe motion of a user. As a result, the motion capturing can be carriedout only in a recording studio or in a limited space within the visualrange of the camera(s).

Mechanical trackers, comprising rigid or flexible goniometers which areworn by the user, are also known. These angle-measuring devices providejoint angle data to a processor in which kinematic algorithms are usedto determine the body position of the user. Conventional mechanicaltracking systems suffer from poor accuracy particularly when there aremore than one degrees of freedom.

Inertial measurement devices are known for detecting the position of amarker without the need of a camera but are generally used inconjunction with systems that can be used only as motion capturesystems, and are generally quite visible, relatively heavy, awkward andusually uncomfortable apparatuses designed for short term use.

Improved motion capture systems and motion capture systems that areeasier to use, are needed.

SUMMARY

An object of the present invention is to overcome the drawbacks of theprior art approaches cited above and to provide a motion capturegarment, and a motion capture system able to reliably detect themovement of a wearer using a garment that is comfortable to wear and hasa stylish appearance.

A further object of the present invention is to provide a motion capturesystem that is easily assembled onto a garment, and is able to be washedin a reliable manner. These and other objects are achieved by thepresent invention by means of a garment according to claim 1, by amotion capture system according to claim 12, by a method for monitoringand analyzing motion according to claim 13, and by a motion capturecircuit according to claim 18. Various other advantageous aspects of theinvention will be indicated in dependent claims.

In particular, according to the present invention, the garment comprisesfabric and includes a plurality of inertial measurement units (IMU's)contained within seams of said garment. The IMU's are advantageouslyconfigured to detect motion in 360 degrees in all three axes.

This aspect advantageously enables the motion of the wearer to bedetected during the daily activity of the user by using a daily garmentthat is physically comfortable and/or has a stylish appearance.

The garment may further comprise at least one microcontroller disposedon or in the garment and electrically coupled to the plurality of IMU's.

According to an aspect of the present invention, the at least onemicrocontroller is contained within at least one of the seams.

Some embodiments provide that the garment further comprises at least oneof an LED and a vibration member disposed within at least one of theseams. These embodiments allow to provide visual and/or tactile usefulinformation to the user. In various embodiments, the garment is formedof denim and in some embodiments, the fabric may be formed of a stretchdenim. According to an aspect of the present invention, the plurality ofIMU's includes a plurality of accelerometers. The plurality of IMU'sfurther includes a plurality of gyrometers and a plurality ofmagnetometers. The plurality of IMU's are in electronic communicationwith at least one external data receiving and processing device such asa smartphone, a computer or other electronic devices provided with aprocessor. In various embodiments, the garment further comprises awireless transmitter disposed in or on the garment and adapted totransmit data from the IMU's to the external data receiving andprocessing device.

The plurality of IMU's may be electronically coupled to one anotheralong the seams by a ribbon of a flexible material disposed within theseams. The flexible material may be plastic, or textile or conductiveyarns. The ribbon may include a plurality of electrical connections(such as conductive traces, wires, electrical cables, and the like) toform a communication bus.

Some embodiments provide that the ribbon is elastically stretchable byat least 10% and that the electrical connections are arranged along theribbon in a crooked path (i.e. a continuously nonlinear path), such as awavy or a zigzag path. In other words, by applying a determined force atthe ends of the ribbon, the ribbon can be stretched (i.e. deformed byincreasing its length) by at least 10%. When the force is removed, theribbon returns elastically to the original size. The wavy or zigzag orcrooked pattern of the electrical connections prevent the connectionsfrom breaking when the ribbon is stretched.

These embodiments advantageously enhance the wearing comfort, so thatthe wearer cannot notice the presence of electronics embedded in thegarment when the garment is worn.

According to an aspect of the disclosure, the garment further comprisesa waterproof coating on the ribbon and the IMU's, and within the seams.This aspect advantageously provides that the electronic components ofthe garments are isolated from sweat, water and any other liquid orother fluid such as would be experienced during laundering.

Some embodiments can provide that the garment is a pair of pants. Insome such pants embodiments, the seams include, for each pant leg of thepair of pants, an outer lateral seam extending in a longitudinaldirection along a wearer's leg and/or an inner medial seam extending inthe longitudinal direction along the wearer's leg. Each of the outerlateral seams and/or each of the inner medial seams includes at leastone IMU disposed along a wearer's tibia portion, and at least one IMUdisposed along a lower portion of the wearer's leg.

In some such pants embodiments, the seams include a waist seam extendingthe wearer's waist. The waist seam includes at least one IMU that isdisposed along the wearer's lower back when worn.

In other embodiments the garment may be an upper body garment such as ashirt of various types and models.

A further object of the present invention is a motion capture systemcomprising a garment comprising fabric and including a plurality ofinertial measurement units (IMU's) contained within seams of thegarment, a wireless transmitter or transceiver disposed in or on thegarment and adapted to at least transmit data from the IMU's, and anexternal device including a processor adapted to receive and analyze thetransmitted data and a display that displays the data.

The external device may control at least one further electronic devicebased upon the data.

Some embodiments of the system of the present invention provides thatthe plurality of IMU's includes at least one accelerometer, at least onegyrometer and at least one magnetometer coupled to one another along theseams by a ribbon of a flexible material with a coating thereon. Thecoated kapton ribbon further disposed within the seams and, furthercomprising at least one of an LED and a vibration member coupled to theflexible ribbon in the seam. In some embodiments the IMU's may beislands of electronics connected to each other by elasticallystretchable busses, for example textile busses provided with electricalcables arranged in a wavy or zigzag path. The IMU's may be formed onordinary PCB's and may be coated with coatings such as resins or moldedplastics.

The system may advantageously include at least one microcontrollerdisposed within the seams, the plurality of IMU's electrically coupledto another and to the microcontroller by a ribbon of a flexible materialwith a coating thereon, the coated ribbon further disposed within theseams.

Another object of the present invention is to provide a method formonitoring and analyzing motion in real time, the method comprising:

-   -   acquiring motion data from a plurality of inertial measurement        units (IMU's) disposed within seams of a garment disposed on a        non-stationary entity;    -   and at least one of displaying and analyzing the data.

According to an aspect of the present invention, the method furthercomprises at least one microcontroller disposed within one of the seamswirelessly transmitting the data to a device that includes at least oneof a processor and a display, wherein the at least one of displaying andanalyzing includes analyzing motion data regarding angle, yaw, pitch,location and acceleration of each of a human wearer's femurs, tibias andfibulas.

Some embodiments can provide that the method further comprises the stepof detecting the gravity vector by means of at least one IMU (e.g., anIMU arranged within a seam of the garment disposed along the wearer'swaist). In these embodiments the step of acquiring motion data iscarried out using the gravity vector as reference.

The method step of acquiring motion data may include acquiring themotion data from an accelerometer, a gyrometer and a magnetometer. Themethod may include analyzing the data using an algorithm applying linearquadratic estimation methods.

Some embodiments can provide that the method further comprisescontrolling at least one electronic device using the data. In someembodiments, the at least one of displaying and analyzing the dataincludes visually displaying movement associated with the motion data ona visual display.

Some embodiments can provide that the method comprises the step ofcollecting the motion data during a collection period and displaying thecollected data when desired. The step of displaying the collected motiondata may include displaying the statistic distribution (for example thehistogram) of the angles for each human wearer's femur and for eachhuman wearer's tibias or fibulas.

A further object of the present invention is a motion capture circuitcomprising a ribbon of a flexible material, comprising a plurality ofelectrical connections forming a communication bus, a plurality ofinertial measurement units (IMU's) coupled to one another by the ribbon,a microcontroller electrically connected to the IMU's, and a wirelesstransmitter adapted to wirelessly transmit data from the IMU's to atleast one external data receiving and processing device. In variousembodiments, the ribbon is elastically stretchable by at least 10%, andthe electrical connections are arranged along the ribbon in a wavy,zigzag, or other crooked path.

Advantageously, the circuit further comprises a waterproof coating, theIMU's and the ribbon are coated with the waterproof coating that isproduced by a low pressure molding process. The waterproof coating isapplied after the electrical cables of the ribbon are connected to theIMU's, so that the waterproof coating covers and seals the whole IMU andthe end portions of the ribbon, where the bus is connected to the IMU's.

According to a particular aspect of the present invention, the ribbon isconformed to be contained within seams of a garment.

According to some embodiments the circuit may include one or morebatteries, for example rechargeable batteries.

BRIEF DESCRIPTION OF THE DRAWING

The present invention is best understood from the following detaileddescription when read in conjunction with the accompanying drawing. Itis emphasized that, according to common practice, the various featuresof the drawing are not necessarily to scale. On the contrary, thedimensions of the various features are arbitrarily expanded or reducedfor clarity. Like numerals denote like features throughout thespecification and drawing.

FIG. 1 shows a wearable activity monitor garment according to variousembodiments of the disclosure. FIG. 1A provides an expanded view of aportion of the garment shown in FIG. 1.

FIG. 2 shows a cross-sectional view of a seam of a wearable activitymonitor garment according to various embodiments of the disclosure.

FIG. 3A shows inertial measurement units, IMU's, coupled together by aflexible connector disposed within a seam of the wearable activitymonitor garment according to various embodiments of the disclosure.

FIGS. 3B and 3C show an elastically stretchable ribbon forming acommunication bus for the IMU's according to various embodiments of thedisclosure. FIG. 3D shows a cross-sectional view of the elasticallystretchable ribbons of FIGS. 3B and 3C.

FIGS. 4A-4C show various arrangements for locating sensors on thewearable activity monitor garments according to various embodiments ofthe disclosure.

FIG. 5 is a flow chart illustrating a method according to variousembodiments of the disclosure.

FIG. 6 is a schematic representation of a motion capture systemaccording to various embodiments of the disclosure.

FIG. 7 shows a graphic representation of the motion data collected anddisplayed according to a particular embodiment of the present invention.

DETAILED DESCRIPTION

The present disclosure provides a real-time motion capture system andgarment. The garment is a wearable activity monitor and may be a shirtor a pair of jeans or any of various other garments and may be formed ofdenim or other suitable materials. The wearable activity monitorincludes multiple sensors such as inertial measurement units, IMU's. Themultiple inertial measurement units include accelerometers, gyrometers,magnetometers and other sensors. The IMU's are in electroniccommunication with one another and at least one microcontroller and alsowith one or more external data receiving and processing devices. TheIMU's are advantageously all disposed within the seams of the garment.Stated alternatively, the IMU's are contained inside the seams formedbetween pieces of fabric, in the garment. A microprocessor may beincluded within one of the seams or at another location in or on thegarment. A tactile notification device and/or an LED may also beincluded within one of the seams, in various embodiments. Ribbons formedof flexible material such as textile or plastic or conductive yarns,electrically couple the IMU's and microprocessor and any other devices,and are also disposed inside the seams to provide a true wearableactivity tracker with the flexible circuit boards and the IMU'scontained within the seams. The ribbon may be a flexible circuit boardsuch as a kapton ribbon and may be advantageously coated with awaterproof coating as may be the other electronic components within theseam.

The motion data obtained by the IMU's may be wirelessly transmitted toan external data receiving and processing device such as a computer orother processor, by a wireless transmitter such as a radio antennaconfigured to transmit data generated by the IMU's. The wirelesstransmitter is disposed on or in the garment and may be part of themicroprocessor. The disclosure provides a wearable activity tracker thatis attractive, comfortable, fashionable, non-obstructive, lightweightand washable. No cables are required outside of the garment, theconnections are invisible and the routing is not visible because thecomponents are disposed within the seams where they are coated and thusisolated from sweat, water and any other liquid or other fluid.

The wearable activity monitor finds application in the fields ofmedicine, physical therapy and rehabilitation, sports coaching, sportsperformance analysis, body figure recording, posture and balancemonitoring, sports injury prevention, differential analysis of walkingand running, monitoring synchronized motions of groups of people, gaitanalysis for running and walking, throwing motion analysis, monitoringthe activities of the elderly, sleep apnea analysis through bodymovement during sleep, and in various other fields.

The IMU's may be positioned in the seams and the seams positionedrelative to a wearer's body so as to use the accelerometers, gyrometersand magnetometers to capture motion on a real-time basis by measuringthe exact angle, yaw, location and pitch of body parts as well as theacceleration and other movements of the body parts. The IMU's areadvantageously configured to detect motion in 360 degrees in all threeaxes. Multiple accelerometers may be utilized in a complementary fashionin cases in which accelerometers with limited ranges are used, to coverdead angles.

For example, and as will be shown in the drawings, the garments may be apair of pants and include, for each pant leg, an outer lateral seamextending in a direction parallel a wearer's leg bones and an innermedial seam extending along the direction parallel a wearer's leg bones.Each of the outer lateral and inner medial seams may include each of anaccelerometer, a gyrometer and a magnetometer disposed both along awearer's upper leg (femur) portion and all three of an accelerometer, agyrometer and a magnetometer also disposed along the wearer's lower leg(tibia and fibula) portion to measure and monitor each bone of thewearer's leg. As above, in some embodiments described herein, multipleaccelerometers may be utilized in a complementary fashion.

The disclosure also provides an activity tracking system. The systemincludes the wearable motion-capturing garment as above and a wirelesstransmitter such as a radio antenna, disposed in or on the garment andadapted to transmit data from the IMU's to an external device. Theexternal device may include a processor and a display. The externaldevice may include a memory for storing the data. The display mayvisually display, on a screen or other visible interface such as agraphical user interface (GUI), the motion of multiple persons wearingthe garments. The processor analyzes the data received from all of theIMU's. In some embodiments, the external device provides feedbackmessages or an alarm and in some embodiments, the external device sendsa signal to another electronic device based on the data analysis. Insome embodiments, the system also includes the garment acting as acontroller to control other electronic devices such as home appliances,computer games, Xbox, other electronic devices and so forth. The dataobtained from the IMU's is provided to a controller that, in turn,controls electronic devices such as the aforementioned examples.

The disclosure also provides a method for real time motion capture andthe analysis of such motion. The method includes obtaining data from awearable activity monitor such as the garments described herein anddelivering the data to an external data receiving and processing deviceadapted to receive and analyze the data and provide a display of thedata graphically or in various other forms. In other embodiments, thedata is stored and displayed and analyzed later. The method includesobtaining data by measuring the exact angle, yaw, location and pitch ofmultiple body parts in time as well as the acceleration and othermovements of the body parts by positioning the IMU's in appropriatelocations along the seams and by positioning the seams at appropriatelocations along the wearer's body. The method includes wirelessly orotherwise transmitting the data to an external data receiving andprocessing device that includes a processor. The external data receivingand processing device may control another electronic device and/orprovide feedback based on the data analysis. Various algorithms andmethods such as Kalman filtering, also known as linear quadraticestimation (LQE), may be used to analyze the data and present the datain a useful and user-friendly format.

FIG. 1 shows a garment 2 which is a pair of pants in the illustratedembodiment. In other embodiments according to various aspects of thedisclosure, garment 2 can be any other garment, i.e. a shirt or otherpiece of apparel such as may be worn by a human, other animal or such asmay be placed upon a movable device. In the illustrated embodiment,garment 2 includes seams 4 at least at outer lateral locations 6 andmedial internal locations 8 on each pant leg 10. Seams 4 generallyextend along the longitudinal direction of a wearer's legs and aretherefore generally parallel to the wearer's femur in upper portion 14of pant leg 10 and parallel to the wearer's tibia and fibula in lowerportion 16 of pant leg 10, when garment 2 is worn by a wearer.

An advantage of the wearable activity monitor of the disclosure is thatthe electronic components that form the wearable activity monitor aredisposed within, i.e. inside seams 4 and therefore not visible. Statedalternatively, the electronic components that form the wearable activitymonitor are surrounded by fabric and inside a garment seam. A seam maybe a portion of a garment in which two overlapping portions of fabricare joined together but the disclosed system may be formed in othertypes of garment seams in other embodiments. A close-up of seam 4 isshown in FIG. 1A. Seam 4 shown in FIGS. 1 and 1A represents one seamembodiment but various types of seams are used in other embodiments.Various stitching types and other methods may be used to form seams inother embodiments. In some particularly advantageous embodiments,garment 2 is a pair of denim jeans but other materials and othergarments are used in other embodiments. In other embodiments, garment 2may be an item of apparel worn by a wearer including but not limited toshorts, a shirt, a full body suit, sleeves for legs and arms and thelike. Garment 2 may be formed of denim, stretch denim or various othersuitable materials.

The garment is advantageously a tight fitting or form fitting garment sothat the inertial measurement units, IMU's or other sensors disposedwithin the seams are accurately positioned with respect to a wearer'sbody.

FIG. 1A shows seam 4 formed of two fabric pieces 20, 22. The two fabricpieces 20, 22 may be joined together to form seam 4 by stitchings 26.Completely inside seam 4 and shown in dashed lines are sensors 30 andflexible connector 32. Sensors 30 may be inertial measurement units,IMU's or other sensors, and other components. In various embodiments,sensors 30 may be accelerometers, gyrometers, magnetometers, or othersuitable motion sensors and in some embodiments, complementaryaccelerometers may be used. Sensors 30 are in electronic communicationwith one another and at least one microcontroller and with one or moreexternal data receiving and processing devices. In some embodiments,sensors 30 are disposed on a connective ribbon or coupled together byother flexible connectors such as wires, fibers and the like. Theflexible connectors 32 are also disposed within seam 4 and are long thinribbon members such as will fit in a conventional garment seam. In someembodiments, a flexible circuit board such as a kapton board (or “kaptonribbon”) is used as flexible connector 32. Kapton is a polyimide filmdeveloped by DuPont in the late 1960s that remains stable across a widerange of temperatures and is commonly used in flexible printed circuits,among other things. In other embodiments, other flexible types ofcircuit boards and other types of flexible plastic materials and/orflexible insulating materials in ribbon or other form, or varioussuitable connectors may be used. In other embodiments, flexibleconnector 32 can be formed by other flexible material such as textiles,conductive yarns or other suitable material. Flexible connector 32 maybe a ribbon including multiple electrical connections and forming acommunication bus. Multiple sensors 30 are coupled to flexible connector32 as will be described in further detail below.

FIG. 2 shows a cross-sectional view of seam 4 such as shown in FIGS. 1and 1A. Sensors 30 and flexible connector 32 are positioned inside seam4 formed of fabric pieces 20, 22. Sensors 30 and flexible connector 32are also advantageously coated with a waterproof coating 34 in variousembodiments. In some embodiments, flexible connector 32 is formed of awaterproof material encasing the electrical connections and only thesensors 30 are coated with waterproof coating 34. Various suitablematerials such as resin coatings used for isolating electronics or coldmolding with materials such as commercially available AcrylonitrileButadiene Styrene (ABS) resin which is a plastic, may be used aswaterproof coating 34. In other embodiments, materials such as otherthermoplastics, for example polyamide-6-6, PA66 (i.e. nylon66) may beused. In still other embodiments, other suitable materials may be usedas a waterproof coating 34.

Some details of flexible connector 32 and the sensors 30 disposed onflexible connector, are shown in FIG. 3A. FIG. 3A shows a motion capturecircuit comprising a plurality of sensors 30 joined to flexibleconnector 32. In some embodiments, the flexible connector 32 and sensors30 arrangement, may include a width W no greater than 1.5 cm but othersuitable widths are used in other embodiments such that flexibleconnector 32 is disposed inside garment seam 4. Sensors 30 may beinertial measurement units, IMU's such as accelerometers, gyrometers andmagnetometers but other sensors may be used in other embodiments.Accelerometers and gyrometers are known to indicate acceleration andangular velocity, respectively and can therefore be used to accuratelyindicate motion and can provide motion capture functionality.Magnetometers may function essentially as compasses that providedirectional information with respect to the Earth's magnetic field.Magnetometers are useful, especially in conjunction with accelerometersand gyrometers, to provide location information including absoluteorientation. Sensors 30 are electrically coupled to one another andother components, such as by conductive elements 38 (for example traces,wires, etc.) on flexible connector 32 but other means for electricalconnection are used in other embodiments. Various suitable conductivematerials may be used. For example, the flexible connector 32 maycomprise a plurality of electrical cables 38, which may be coaxialcables in some embodiments.

In some embodiments, the IMU's, i.e. sensors 30 may be islands ofelectronics, formed on ordinary PCB's, and connected to each other byribbons 32 that may be elastically stretchable flexible connectors. Inparticular, with respect to FIG. 3B and FIG. 3C, an elasticallystretchable bus comprising a ribbon 32 provided with a couple ofelectrical cables 38 is shown. The electrical cables 38 are arrangedalong a crooked path (i.e. a continuously nonlinear path), such as awavy (undulating) or a zigzag path. The ribbon 32 shown in FIG. 3B hasan elastic stretchability less than the stretchability of ribbon 32shown in FIG. 3C, so that for a given length of the ribbon 32, theelectrical cables 38 of FIG. 3C can have a longer length than theembodiment of FIG. 3B. In other words, for a given length of ribbon 32,electrical cables 38 shown in FIG. 3C allow for greater stretching. Theelectric cables 38 tend to follow a more crooked path in a relaxedposition, i.e. in absence of a stretching force, than when a stretchingforce is applied. In other words, when a stretching force is applied tothe ribbon 32, the electric cables 38 follow a path which is more linearin shape, i.e. the electric cables 38 straighten out. In general theribbon 32 is elastically stretchable by at least 10%. For example, theribbon 32 may be formed of textile comprising stretchable yarns coupledto the electrical cables 38 by weaving.

In FIG. 3D a cross-section view of the ribbon 32 shown in FIGS. 3B and3C is shown. In this embodiment the electrical cables 38 are coaxialcables having an outer conductor 38 a and an inner conductor 38 b. Forexample, a coaxial cable 38 can be used for connecting IMU's or otherelectronic component to a power supply, the other coaxial cable 38 canbe used for transmitting data.

In addition to sensors 30, FIG. 3A also shows microcontroller 40disposed on flexible connector 32. Various microcontrollers are used. Inother embodiments, microcontroller 40 may be disposed at various otherlocations in or on garment 2. In some embodiments, the microcontrollermay be disposed as a button over the fly of the jeans or on a belt loop,but the microcontroller may be disposed at any of various other suitablelocations. In various embodiments, flexible connector 32 has Bluetoothcircuitry as well as microcontroller 40. In various embodiments,microcontroller 40 includes a radio antenna that wirelessly transmitsthe data obtained from sensors 30. The Bluetooth circuitry enables thecomponents on the flexible connector 32 and flexible connector 32 itselfto communicate to external data receiving and processing devices such ascomputers, tablets, cellular telephones, or other personal electronicdevices or processors. The Bluetooth circuitry includes various suitablewireless transmission devices such as radio antennas to transmit thedata wirelessly or otherwise to one or more external components.

Referring again to FIG. 3A, relative widths of flexible connector 32 andsensors 30 may vary according to other embodiments. In some embodiments,flexible connector 32 includes enlarged platform sections to accommodatesensors 30 and in other embodiments, flexible connector 32 includes aconstant width. Flexible connector 32 and therefore sensors 30 may beconnectable to outside electronic devices using terminals 42. In someembodiments, terminals 42 may be used to connect flexible connector 32to a power source, battery or battery charger, or other electronicdevice. In some embodiments, microcontroller 40 includes a battery thatmay be a rechargeable battery and according to such embodiments,terminals 42 may provide connection to a battery charger. In someembodiments, terminals 42 may provide connection to a wirelesstransmitter such as may be positioned outside the seam, in someembodiments. In some embodiments, a tactile or visual feedback device 39is present to provide feedback to the wearer. Feedback device 39 may bea light emitting diode, LED device in some embodiments and in otherembodiments, feedback device 39 may be a vibrational member used toprovide tactile feedback to the wearer. According to various otherembodiments, flexible connector 32 may include additional componentsalso disposed within seams 4.

In some embodiments, terminals 42 may provide connection to a computeror other processor such as may be used to program microcontroller 40and/or update firmware for microcontroller 40.

FIG. 4A presents one embodiment of locations of sensors within seams 4,according to various aspects of the disclosure. In FIG. 4A, sensorlocations 44 are on seam 4 of upper portion 14 of pant leg 10 and sensorlocations 46 are on seam 4 of lower portion 16 of pant leg 10. FIG. 4Ashows two sensor locations, 44 and 46 on outer lateral locations 6 andalso two sensor locations 44, 46 on medial internal locations 8 on eachpant leg 10 but various other locations and arrangements may be used inother embodiments. In some embodiments, at each sensor location 44, 46there are three sensors—an accelerometer, a gyrometer and amagnetometer, but other types and numbers of sensors may be used at thesensor locations, in other embodiments. Furthermore, in otherembodiments, other sensor locations are used. For example, anaccelerometer, gyrometer, and magnetometer may be positioned very closeto one another at any of various other locations along upper portion 14of garment leg 10 and in other embodiments, the accelerometer,gyrometer, and magnetometer may be positioned apart from one another atvarious locations but each along upper portion 14 of pant leg 10. Thesame is true for the positioning of sensors 30 along lower portion 16 ofpant leg 10. In some embodiments, an accelerometer, gyrometer, andmagnetometer may be positioned in close proximity to one another at anyof various locations along lower portion 16 such as at sensor location46 and in other embodiments, the accelerometer, gyrometer, andmagnetometer or other suitable sensors 30, may be spaced apart from oneanother at various locations along lower portion 16.

The disclosure provides for obtaining data by using the aforementionedsensors to measure the exact angle, yaw, location and pitch of multiplebody parts in time as well as the acceleration and other movements ofthe body parts by positioning the IMU's or other sensors in appropriatelocations along the seams and by positioning the seams at appropriatelocations along the wearer's body. Graph 48 shown in FIG. 4A illustratesan example of three data curves 51, 52, 53 such as may be obtained fromthree sensors at sensor location 44.

FIG. 4A shows a further sensor location 45 on waist location 7. In thisembodiment, the garment may include a waist seam 4 extending along thewearer's waist. The waist seam 4 includes at least one IMU 30 disposedalong the waist location 7, preferably at the wearer's lower back whenworn.

The IMU 30 disposed at the location 45 may be used for detecting thegravity vector so that the angle, yaw, location and pitch of multiplebody parts can be obtained by taking the gravity vector detected atlocation 45 as reference.

FIGS. 4B and 4C illustrate two other embodiments of the arrangement ofmotion sensors within seams 4, according to the disclosure. In FIG. 4B,only one sensor location 44 is present along upper portion 14 of garmentleg 10 and only one sensor location 46 is present along lower portion 16of garment leg 10. Each of the sensor locations 44, 46 is on outerlateral locations 6 of pant leg 10 in FIG. 4B. In contrast, in FIG. 4C,only one sensor location 44 is present along upper portion 14 of garmentleg 10 and only one sensor location 46 is present along lower portion 16of garment leg 10 but each of the sensor locations 44, 46 is located atmedial internal locations 8 of pant leg 10.

In general, in the case of a pair of pants, the seams 4 of the garment 2include, for each pant leg 10 of the pair of pants, an outer lateralseam 4 extending in a longitudinal direction along a wearer's leg and/oran inner medial seam 4 extending in the longitudinal direction along thewearer's leg. Each of the outer lateral seam 4 and/or each of innermedial seams 4 include at least one IMU 30 disposed along a wearer'sfemur and at least one IMU 30 disposed along a lower portion 16 of thewearer's leg.

Various other numbers of sensors and locations in addition to thoseshown in FIGS. 4A-4C, can be used and the sensors can be variouslypositioned in various embodiments.

The disclosure provides a system and method in which the motion andorientation information is wirelessly transmitted such as bymicrocontroller 40 shown in FIG. 3A or another suitable wirelesstransmission device disposed on or in the garment. Referring to FIG. 5,the method for monitoring and analyzing real time motion may comprise:disposing a plurality of inertial measurement units (IMU's) within seamsof a garment disposed on a non-stationary entity (step 100) as describedabove; acquiring motion data from the plurality of inertial measurementunits (IMU's) (step 102) as described above; and displaying and/oranalyzing the data (step 104) as described herein. The movementassociated with the motion data may be presented on a visual display.The method may also include communicating the motion data to anotherelectronic device (step 106).

FIG. 6 shows a motion capture system 80 according to an embodiment ofthe present invention, including wireless transceiver 58 associated withgarment 2, transmitting data 60 to a transceiver 62 associated with anexternal device 64 including a processor adapted to receive and analyzethe transmitted data and a display 66 that displays the data. In someembodiments, motion capture system 80 also includes another electronicdevice 68 such as described below. In various embodiments, the wirelesstransmission device disposed on or in garment 2 may additionally includeboth a transmitter and receiver and serve as wireless transceiver 58.Wireless transceiver 58 may communicate using Bluetooth (BT), BluetoothLow Energy (BLE), or other suitable wireless radio technologycommunication modules. External device 64 may be or may include acomputer, various processors and other data analysis features. In someembodiments, external device 64 is a tablet or cellular telephone orother personal electronic device. Display 66 may display the analyzeddata in many formats such as a graphically or in table form. In variousadvantageous embodiments, display 66 presents the data in a visual formthat shows the real time motion of the wearer of the garment. Externaldevice 64 may include a GUI for the user to use to analyze, manipulateand display the data. In various embodiments, external device 64 mayanalyze and display the data in real time and also include a memory suchthat the data may also be stored and analyzed and displayed at a latertime when so desired.

In some embodiments, the step 104 of displaying and analyzing maycomprise a step of collecting the motion data during a collecting periodand a step of displaying the collected data when desired. The collecteddata may be displayed graphically as shown in FIG. 7 although otherdisplays may be presented in other embodiments. In particular, theexternal device 64 may analyze the collected data and display thestatistic distribution 90 (for example a histogram) of the angles foreach human wearer's femurs and for each human wearer's tibias orfibulas. For example, the motion data collected may be displayed with aplurality of segments 91-94 arranged at angles corresponding to theminimum and maximum angles collected for femur (91, 92) and tibia (93,94) of each leg. FIG. 7 shows a graphic representation of the collectedmotion data of a leg (for example the right leg). In particular,segments 91 and 92 represent the minimum angle and maximum angleachieved by the femur during the collecting period. Segments 93 and 94represent the minimum angle and maximum angle achieved by the tibiaduring the collecting period.

The user can switch between the display relating the motion data of aleg to the other leg by means of a graphical user interface, so thatpossible asymmetries of movements can be displayed graphically in asimple and intuitive manner for the user.

Various methods and algorithms may be used to process and analyze thetransmitted motion and location data and to present a display orotherwise present the data in a useful form. In some embodiments, Kalmanfiltering may be used. Kalman filtering, also known as linear quadraticestimation (LQE), is an algorithm that uses a series of measurementsobserved over time, containing statistical noise and other inaccuracies,and produces estimates of unknown variables that tend to be more precisethan those based on a single measurement alone, by using Bayesianinference and estimating a joint probability distribution over thevariables for each timeframe.

The Kalman filtering embodiment is presented by way of example only andin various embodiments, various data analysis and presentation methodsare used. In various embodiments, multiple garments 2 transmit data toan external device such as external device 64 and the data processingand analysis may include a comparison of data received from multiplewearers.

Referring again to FIG. 6, in some embodiments, external device 64 usesthe data received and processed, to control another electronic device 68such as by way of signal 70. In some embodiments, electronic device 68is a gaming device and in other embodiments, electronic device 68 may bea home or automotive appliance, computer game, a video game console, orit may represent any of various other applications of an electronicdevice capable of receiving a signal, either wirelessly or otherwisetransmitted from external device 64, and being controlled by suchsignal. Various games that are played based on wearer movements, can beimplemented and these include games both on mobile devices or otherplatforms. In other embodiments, the system including garment 2 asdescribed above, may communicate directly with electronic device 68.According to this embodiment, data signals 72 are transmitted directlyby a wireless transmitter such as transceiver 58, to the electronicdevice and in various embodiments, multiple garments to may communicatedirectly with electronic device 68.

In various embodiments, the system may also provide an auditory, visualor other emergency alarm. In some embodiments, various movements ormovement patterns such as excessive spinning, high impact or unmitigatedfreefall, or various other movements or more patterns, may trigger anemergency alarm. In some embodiments various other forms of visualand/or tactile feedback, i.e. non-emergency notifications, may beprovided to the user. The alarm or other notification may be presentedvisually such as on various displays such as may be on external device64. In other embodiments, the alarm or notification may be a tactilenotification such as vibration on a wearable device such as a cellulartelephone with a vibration engine. In some embodiments a light emittingdiode, LED, or vibrational member within the seam (see feedback device39 in FIG. 3A) of the garment itself, is used to convey the alarm orother notification via visual and/or tactile feedback to the user. Thenotification of the emergency situation or other feedback may beobtained by external device 64 and provided as signal 74 to transceiver58. In some embodiments, microcontroller 40 generates the notificationand sends the same to the LED or vibrational member within the seam. Thevisual or tactile feedback may be a single or multiple vibrational beeps(i.e., “veeps”) or single or multiple LED flashes to inform the userthat the garment is turned on, that the garment is in its reduced set offunctions, that the garment is in full monitoring function, and soforth.

Some embodiments may provide that a feedback notification may beobtained by the external device 64 on the basis of the motion dataacquired by the IMU's. The feedback notification may provided as signal74 to transceiver 58, so that microcontroller 40 generates thenotification and sends the same to the feedback device 39 (LED orvibrational member) within the seam. In some embodiments, the feedbackdevice 39 may comprise a plurality of vibrational members arrangedwithin the seam of the garment at different positions associated toparticular parts of the wearer's body, so that a tactile feedback may beprovided to one or multiple different parts of the wearer's body at thesame time, in response to the motion data acquired by the IMU's andanalyzed by the external device 64. For example, the tactile feedbackcan be used for notifying to the wearer wrong and/or correct movementsof wearer's body parts during physical exercises.

In some embodiments, external device 64 may provide firmware updatesreceived by wireless transceiver 58.

The disclosed garment and system enables the data to be analyzed andused for various advantageous purposes and applications. In someembodiments, the disclosed system provide for monitoring more than onegarment such as two garments worn by a wearer, e.g, a pair of pants andan upper body garment. In one embodiment, the disclosed garment andsystem provide for monitoring group sports activities. For example, asingle trainer can simultaneously check on multiple sportsmen todetermine if, for example all the students are doing the right thingwhen they go through their training moves, or for comparative purposes.This can be done realtime or later off-line as the memory required tostore the data is small in size and a trainer can later compare dataamong subjects and make various determinations. In other embodiments,the advantage of injury prevention is achieved by analyzing the movementof an athlete or other performer, for example. The motion data may beused for running or walking style and balance analysis. The data candemonstrate which leg is used more and whether the wearer's steps areequal over time. Gait analysis can also be used to suggest anatomicalcorrections and to determine a proper style of shoe, such as a runningshoe. Various other types of activity tracking can be achieved. Sleepbehavior can also be monitored based on the data analysis.

In some embodiments, the data can assist in calculating calories burnedbased on an integral of the sensor data and body measurements such asheight, weight, leg length and the like. In still other embodiments, aperformer such as a dancer or an athlete such as a skier or askateboarder can develop a particular move and record the captured dataprovided by the disclosure instead of having to review a lengthy videothat may include many irrelevant details.

The preceding merely illustrates the principles of the disclosure. Itwill thus be appreciated that those skilled in the art will be able todevise various arrangements which, although not explicitly described orshown herein, embody the principles of the invention and are includedwithin its spirit and scope. Furthermore, all examples and conditionallanguage recited herein are principally intended expressly to be onlyfor pedagogical purposes and to aid in understanding the principles ofthe disclosure and the concepts contributed by the inventors tofurthering the art, and are to be construed as being without limitationto such specifically recited examples and conditions. Moreover, allstatements herein reciting principles, aspects, and embodiments of thedisclosure, as well as specific examples thereof, are intended toencompass both structural and functional equivalents thereof.Additionally, it is intended that such equivalents include bothcurrently known equivalents and equivalents developed in the future,i.e., any elements developed that perform the same function, regardlessof structure.

This description of the exemplary embodiments is intended to be read inconnection with the figures of the accompanying drawing, which are to beconsidered part of the entire written description. In the description,relative terms such as “lower,” “upper,” “horizontal,” “vertical,”“above,” “below,” “up,” “down,” “top” and “bottom” as well asderivatives thereof (e.g., “horizontally,” “downwardly,” “upwardly,”etc.) should be construed to refer to the orientation as then describedor as shown in the drawing under discussion. These relative terms arefor convenience of description and do not require that the apparatus beconstructed or operated in a particular orientation. Terms concerningattachments, coupling and the like, such as “connected” and“interconnected,” refer to a relationship wherein structures are securedor attached to one another either directly or indirectly throughintervening structures, as well as both movable or rigid attachments orrelationships, unless expressly described otherwise.

Although the invention has been described in terms of exemplaryembodiments, it is not limited thereto. Rather, the appended claimsshould be construed broadly, to include other variants and embodimentsof the invention, which may be made by those skilled in the art withoutdeparting from the scope and range of equivalents of the invention.

1. A garment comprising fabric and including a plurality of inertialmeasurement units (IMU's) contained within seams of said garment.
 2. Thegarment according to claim 1, further comprising at least onemicrocontroller disposed on said garment or within at least one of saidseams of said garment and electrically coupled to said plurality ofIMU's.
 3. The garment according to claim 1, further comprising awireless transmitter disposed in or on said garment and adapted towirelessly transmit data from said IMU's to at least one external datareceiving and processing device.
 4. The garment according to claim 1,wherein said plurality of IMU's are electrically coupled to one anotheralong a ribbon of a flexible material further disposed within saidseams, said ribbon including a plurality of electrical connectionsforming a communication bus.
 5. The garment according to claim 4,wherein said ribbon is elastically stretchable by at least 10%, saidelectrical connections being arranged along said ribbon in a crookedpath.
 6. The garment according to claim 5, wherein said flexiblematerial comprises plastic, textile or conductive yarn and furthercomprising a waterproof coating at least on said IMU's, within saidseams.
 7. The garment according to claim 6, wherein said garment is apair of pants formed of denim.
 8. The garment according to claim 7,wherein said seams include, for each pant leg of said pair of pants, anouter lateral seam extending in a longitudinal direction along awearer's leg and/or an inner medial seam extending in said longitudinaldirection along said wearer's leg, each of said outer lateral seamsand/or each of said inner medial seams including at least one of saidplurality of IMU's disposed along a wearer's femur, and at least one ofsaid plurality of IMU's disposed along a lower portion of said wearer'sleg.
 9. The garment according to claim 8, wherein said seams include awaist seam extending along a waist of said pair of pants, said waistseam including at least one of said plurality of IMU's disposed therein.10. The garment according to claim 1, wherein said plurality of IMU'sincludes a plurality of accelerometers, gyrometers and magnetometers.11. The garment according to claim 1, further comprising at least one ofan LED and one or more vibration members disposed within at least one ofsaid seams.
 12. A motion capture system comprising: a garment formed offabric and including a plurality of inertial measurement units (IMU's)contained within seams of said garment, a wireless transmitter disposedin or on said garment and adapted to wirelessly transmit data from saidIMU's to at least one external data receiving and processing device, andsaid external device including a processor adapted to receive andanalyze said transmitted data and a display that displays said data,said external device adapted to control at least one further electronicdevice based upon said data.
 13. A method for monitoring and analyzingreal time motion, said method comprising: acquiring motion data from aplurality of inertial measurement units (IMU's) disposed within seams ofa garment disposed on a non-stationary entity; wirelessly transmittingsaid motion data to a device that includes at least one of a processorand a display; and at least one of displaying and analyzing said data.14. The method according to claim 13, further comprising one of saidplurality of IMU's detecting a gravity vector, wherein said acquiringmotion data is carried out using said gravity vector as reference. 15.The method according to claim 13, wherein said at least one ofdisplaying and analyzing includes analyzing said motion data regardingangle, yaw, pitch, location and acceleration of a human wearer's femursand said human wearer's tibias or fibulas, and visually displayingmovement associated with said motion data on said display.
 16. Themethod according to claim 15, further comprising a microcontrollerreceiving data wirelessly transmitted from said device and providingtactile feedback based on said data wirelessly transmitted from saiddevice.
 17. The method according to claim 16, wherein said at least oneof displaying and analyzing includes collecting said motion data duringa collecting period and displaying said collected data when desired,said displaying said collected data including displaying graphically astatistic distribution of the angles for each human wearer's femurs andfor each human wearer's tibias or fibulas.
 18. The method according toclaim 16, wherein said providing tactile feedback comprises providingtactile feedback to different parts of the human wearer's body inresponse to said analyzing.